LSY-lab/drawer_v2
收藏Hugging Face2025-12-08 更新2025-12-20 收录
下载链接：
https://hf-mirror.com/datasets/LSY-lab/drawer_v2
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 3,
"total_frames": 1008,
"total_tasks": 1,
"total_videos": 9,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:3"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.primary": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.tactile": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state.cartesian": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.joints": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"observation.state.sensors_ft_sensor": {
"dtype": "float32",
"shape": [
6
],
"names": [
"sensors_ft_sensor_0",
"sensors_ft_sensor_1",
"sensors_ft_sensor_2",
"sensors_ft_sensor_3",
"sensors_ft_sensor_4",
"sensors_ft_sensor_5"
]
},
"observation.state.sensors_tactile_sensor": {
"dtype": "float32",
"shape": [
15
],
"names": [
"sensors_tactile_sensor_0",
"sensors_tactile_sensor_1",
"sensors_tactile_sensor_2",
"sensors_tactile_sensor_3",
"sensors_tactile_sensor_4",
"sensors_tactile_sensor_5",
"sensors_tactile_sensor_6",
"sensors_tactile_sensor_7",
"sensors_tactile_sensor_8",
"sensors_tactile_sensor_9",
"sensors_tactile_sensor_10",
"sensors_tactile_sensor_11",
"sensors_tactile_sensor_12",
"sensors_tactile_sensor_13",
"sensors_tactile_sensor_14"
]
},
"observation.state.target": {
"dtype": "float32",
"shape": [
6
],
"names": [
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
41
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"sensors_ft_sensor_0",
"sensors_ft_sensor_1",
"sensors_ft_sensor_2",
"sensors_ft_sensor_3",
"sensors_ft_sensor_4",
"sensors_ft_sensor_5",
"sensors_tactile_sensor_0",
"sensors_tactile_sensor_1",
"sensors_tactile_sensor_2",
"sensors_tactile_sensor_3",
"sensors_tactile_sensor_4",
"sensors_tactile_sensor_5",
"sensors_tactile_sensor_6",
"sensors_tactile_sensor_7",
"sensors_tactile_sensor_8",
"sensors_tactile_sensor_9",
"sensors_tactile_sensor_10",
"sensors_tactile_sensor_11",
"sensors_tactile_sensor_12",
"sensors_tactile_sensor_13",
"sensors_tactile_sensor_14",
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
license: Apache-2.0 协议
task_categories:
- 机器人学
tags:
- LeRobot(LeRobot)
configs:
- config_name: 默认配置
data_files: data/*/*.parquet
本数据集由[LeRobot(LeRobot)](https://github.com/huggingface/lerobot)构建。
## 数据集描述
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可证**：Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.1",
"机器人类型": null,
"总情节数": 3,
"总帧数": 1008,
"总任务数": 1,
"总视频数": 9,
"总数据块数": 1,
"单块数据大小": 1000,
"帧率": 15,
"数据集划分": {
"训练集": "0:3"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征定义": {
"观测.主摄像头图像": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 30.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"通道数": 3,
"是否包含音频": false
}
},
"观测.触觉摄像头图像": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 30.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"通道数": 3,
"是否包含音频": false
}
},
"观测.腕部摄像头图像": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 30.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"通道数": 3,
"是否包含音频": false
}
},
"观测.笛卡尔坐标状态": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["x", "y", "z", "横滚角(roll)", "俯仰角(pitch)", "偏航角(yaw)"]
},
"观测.夹爪状态": {
"数据类型": "float32",
"形状": [1],
"维度名称": ["夹爪开度"]
},
"观测.关节状态": {
"数据类型": "float32",
"形状": [7],
"维度名称": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"]
},
"观测.力扭矩传感器数据": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["力扭矩传感器0", "力扭矩传感器1", "力扭矩传感器2", "力扭矩传感器3", "力扭矩传感器4", "力扭矩传感器5"]
},
"观测.触觉传感器数据": {
"数据类型": "float32",
"形状": [15],
"维度名称": ["触觉传感器0", "触觉传感器1", "触觉传感器2", "触觉传感器3", "触觉传感器4", "触觉传感器5", "触觉传感器6", "触觉传感器7", "触觉传感器8", "触觉传感器9", "触觉传感器10", "触觉传感器11", "触觉传感器12", "触觉传感器13", "触觉传感器14"]
},
"观测.目标状态": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["目标x坐标", "目标y坐标", "目标z坐标", "目标横滚角", "目标俯仰角", "目标偏航角"]
},
"观测.整合状态": {
"数据类型": "float32",
"形状": [41],
"维度名称": ["x", "y", "z", "横滚角(roll)", "俯仰角(pitch)", "偏航角(yaw)", "夹爪开度", "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "力扭矩传感器0", "力扭矩传感器1", "力扭矩传感器2", "力扭矩传感器3", "力扭矩传感器4", "力扭矩传感器5", "触觉传感器0", "触觉传感器1", "触觉传感器2", "触觉传感器3", "触觉传感器4", "触觉传感器5", "触觉传感器6", "触觉传感器7", "触觉传感器8", "触觉传感器9", "触觉传感器10", "触觉传感器11", "触觉传感器12", "触觉传感器13", "触觉传感器14", "目标x坐标", "目标y坐标", "目标z坐标", "目标横滚角", "目标俯仰角", "目标偏航角"]
},
"动作": {
"数据类型": "float32",
"形状": [7],
"维度名称": ["x", "y", "z", "横滚角(roll)", "俯仰角(pitch)", "偏航角(yaw)", "夹爪开度"]
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"情节索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式：**
bibtex
[更多信息待补充]
提供机构：
LSY-lab
